hpp::core::PathProjector Class Referenceabstract

This class projects a path using constraints. More...

#include <hpp/core/path-projector.hh>

Inheritance diagram for hpp::core::PathProjector:

Public Types

typedef hpp::core::Path Path
 
typedef hpp::core::PathPtr_t PathPtr_t
 
typedef hpp::core::StraightPath StraightPath
 
typedef hpp::core::StraightPathPtr_t StraightPathPtr_t
 
typedef hpp::core::PathVector PathVector
 
typedef hpp::core::PathVectorPtr_t PathVectorPtr_t
 

Public Member Functions

virtual ~PathProjector ()
 Destructor. More...
 
bool apply (const PathPtr_t path, PathPtr_t &projection) const
 Apply the constraints to the path. More...
 

Protected Member Functions

 PathProjector (const core::DistancePtr_t distance)
 Constructor. More...
 
virtual bool impl_apply (const StraightPathPtr_t path, PathPtr_t &projection) const =0
 Method to be reimplemented by inherited class. More...
 
value_type d (ConfigurationIn_t q1, ConfigurationIn_t q2) const
 

Detailed Description

This class projects a path using constraints.

Member Typedef Documentation

◆ Path

◆ PathPtr_t

◆ PathVector

◆ PathVectorPtr_t

◆ StraightPath

◆ StraightPathPtr_t

Constructor & Destructor Documentation

◆ ~PathProjector()

virtual hpp::core::PathProjector::~PathProjector ( )
virtual

Destructor.

◆ PathProjector()

hpp::core::PathProjector::PathProjector ( const core::DistancePtr_t  distance)
protected

Constructor.

Member Function Documentation

◆ apply()

bool hpp::core::PathProjector::apply ( const PathPtr_t  path,
PathPtr_t projection 
) const

Apply the constraints to the path.

Parameters
[in]theinput path,
[out]theoutput path.
Returns
True if projection succeded

◆ d()

value_type hpp::core::PathProjector::d ( ConfigurationIn_t  q1,
ConfigurationIn_t  q2 
) const
protected

◆ impl_apply()

virtual bool hpp::core::PathProjector::impl_apply ( const StraightPathPtr_t  path,
PathPtr_t projection 
) const
protectedpure virtual

Method to be reimplemented by inherited class.

Implemented in hpp::core::pathProjector::Progressive, and hpp::core::pathProjector::Dichotomy.